Tools for robotic medical systems

Abstract

A feeder mechanism for advancing or retracting an endovascular tool is described. The feeder mechanism is drivable by outputs of a helm on a robotic medical system. A first input of the feeder mechanism is driven by a first output of the helm to open and close the feeder mechanism so that the endovascular tool can be inserted. A second input of the feeder mechanism is driven by a second output of the helm to cause rollers of the feeder mechanism to advance or retract the endovascular tool.

What is claimed is: 
     
         1 . A feeder mechanism, comprising:
 a stationary body;   a pivot body pivotally coupled to the stationary body at a pivot;   a first roller rotatably mounted to the stationary body;   a second roller rotatably mounted to the pivot body;   a first input configured to be rotatable by a corresponding first output on a helm, the first input mechanically coupled to the first roller and the second roller such that rotation of the first input causes rotation of the first roller and the second roller;   a second input configured to be rotatable by a corresponding second output on the helm, the second input mechanically coupled to the pivot body such that rotation of the second input causes the pivot body to rotate about the pivot relative to the stationary body, wherein:
 rotation of the second input in a first direction causes the pivot body to pivot to a closed configuration wherein an endovascular tool is clamped between the first roller and the second roller, and 
 rotation of the second input in a second direction causes the pivot body to pivot to an open configuration wherein the endovascular tool can be loaded into or unloaded from the feeder mechanism. 
   
     
     
         2 . The feeder mechanism of  claim 1 , further comprising a slot formed in through an upper surface of the feeder mechanism such that the endovascular tool is top loadable into the feeder mechanism. 
     
     
         3 . The feeder mechanism of  claim 2 , wherein the first and second rollers are mechanically coupled to the first input through one or more drive gears. 
     
     
         4 . The feeder mechanism of  claim of 3 , wherein the first and second rollers are rotated in opposite directions. 
     
     
         5 . The feeder mechanism of  claim 4 , wherein the second input is mechanically coupled to the pivot body by a screw mechanism. 
     
     
         6 . The feeder mechanism of  claim 5 , wherein the first input is located on one side of the feeder mechanism and the second input is located on an opposite side of the feeder mechanism. 
     
     
         7 . The feeder mechanism of  claim 1 , wherein the endovascular tool comprises a catheter. 
     
     
         8 . The feeder mechanism of  claim 1 , wherein the endovascular tool comprises a wire. 
     
     
         9 . A reel mechanism for a steerable catheter, comprising:
 a first input configured to be rotatable by a first output of a helm;   a second input configured to be rotatable a second output of a helm;   a first pulley, a second pulley, a third pulley, and a fourth pulley positioned at 90-degree intervals around an axis, wherein the axis is aligned with an elongated body of an endovascular tool extending from the reel mechanism;   wherein the first input is mechanically coupled to the first pulley and the third pulley, wherein rotation of the first input is configured to cause rotation of the first pulley and the third pulley;   wherein the second input is mechanically coupled to second pulley and the fourth pulley, wherein rotation of the second input is configured to cause rotation of the second pulley and the fourth pulley;   wherein a first pair of opposing pullwires of the elongated body are wound on the first pulley and the third pulley; and   wherein a second pair of opposing pullwires of the elongated body are wound on the second pulley and the fourth pulley.   
     
     
         10 . The reel mechanism of  claim 9 , wherein the first input is mechanically coupled to the first pulley and the second pulley by a first drive gear. 
     
     
         11 . The reel mechanism of  claim 10 , wherein the first drive gear comprises a bevel gear. 
     
     
         12 . The reel mechanism of  claim 10 , wherein the second input is mechanically coupled to the second pulley and the fourth pulley by a second drive gear. 
     
     
         13 . The reel mechanism of  claim 12 , wherein the second drive gear comprises a bevel gear. 
     
     
         14 . The reel mechanism of  claim 13 , wherein the endovascular tool comprises a quad steerable catheter. 
     
     
         15 . A robot-to-patient (RTP) interface, comprising:
 a first body, the first body comprising a generally cylindrical body extending between a proximal face configured to couple to a helm or a tool positioned in the helm and a distal face, the distal face comprising a funnel-shaped opening, the first body further comprising a longitudinal slot;   a second body comprising a semi-cylindrical body, the second body received within a semi-cylindrical groove formed circumferentially in the first body, the second body slidable within the groove, wherein the second body is slidable between:
 a first position wherein the longitudinal slot is open; and 
 a second position wherein the longitudinal slot is closed. 
   
     
     
         16 . The RTP interface of  claim 15 , wherein in the open position an endovascular tool can be loaded into the RTP interface such that the endovascular tool extends through the RTP interface. 
     
     
         17 . The RTP interface of  claim 16 , wherein in the closed position the endovascular tool is captured by but is advanceable or retractable through the RTP interface. 
     
     
         18 . The RTP interface of  claim 17 , wherein the second body further comprises a tab extending therefrom. 
     
     
         19 . The RTP interface of  claim 18 , wherein the first body further comprises a tab extending therefrom. 
     
     
         20 . The RTP interface of  claim 19 , wherein the endovascular tool comprises a catheter or a wire.